CN106358537B - A kind of automatic transplanter for plug seedling and its control system - Google Patents
A kind of automatic transplanter for plug seedling and its control system Download PDFInfo
- Publication number
- CN106358537B CN106358537B CN201610913732.9A CN201610913732A CN106358537B CN 106358537 B CN106358537 B CN 106358537B CN 201610913732 A CN201610913732 A CN 201610913732A CN 106358537 B CN106358537 B CN 106358537B
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- seedling
- separation
- chain
- hole tray
- chassis
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C11/00—Transplanting machines
- A01C11/02—Transplanting machines for seedlings
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/05—Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts
- G05B19/054—Input/output
Abstract
A kind of automatic transplanter for plug seedling of present invention offer and its control system, automatic transplanter for plug seedling include chassis, seedling box mover, seedling picking mechanism, seeding separation, planting mechanism and actuating unit；The seedling box mover, seedling picking mechanism and seeding separation are front and back successively to be fixed on chassis, and planting mechanism setting is connect with below seeding separation and with chassis, and the seedling that seeding separation is launched can accurately enter in planting mechanism.Each mechanism automatic seedling taking control system and is lost and can complete high speed under the coordination of seedling control system and send seedling, seedling taking, seedling separation, throw seedling and plant seedlings automatically automatically for seedling control system.Mechanical structure of the present invention is simple, at low cost；Control system required input signal is few, and control method is simple, flexible, efficient；Adapt to high speed plant operation.
Description
Technical field
The invention belongs to field of agricultural mechanical automation, more particularly to a kind of automatic transplanter for plug seedling and its control system
System.
Background technology
Transplanting plantation can shorten the growing process of crop, improve combating a natural disaster drought-resistant ability, reducing and need secondary to reseed for crop
Phenomenon, while the growth cycle of crop can be increased, improve crop yield and quality.Before China's transplanter has a vast market
Scape is formally announced《2012-2014 countries support the Agricultural Machinery Design catalogue promoted》It has been shown that, is included in the transplanter of catalogue
Up to 27 kinds, 12 enterprises, country's transplanter is also based on semi-automatic transplanter at present, transplanting efficiency bottom, labor workload
Greatly；The automatic transplanter product of China's independent development is almost nil, is introduced mainly by foreign countries.External automatic transplanter structure is multiple
It is miscellaneous, of high cost, it is not matched with the seedling-raising technique in China and other transplanting less important works so that transplanting success rate and transplanting efficiency drop
It is low.Therefore, there is an urgent need to be suitble to the automatic transplanter tool of China's hole plate seedling growth technological level in market.
Invention content
The invention mainly solves the technical problem of providing a kind of hole trays simple in structure, cost is relatively low, work efficiency is high
Seedling automatic transplanter and its control system.
A kind of automatic transplanter for plug seedling and its control system, including chassis, seedling box mover, seedling picking mechanism, seeding separation,
Planting mechanism, actuating unit and controller；The seedling box mover, seedling picking mechanism and seeding separation are front and back successively to be fixed at bottom
On disk, planting mechanism is set to below seeding separation and is connect with chassis, and the seedling that seeding separation is launched can accurately enter plant
In mechanism；
Seedling box mover includes moving bottom seat, hole tray conveyer frames, cross feed device, longitudinal feeding device, hole tray position biography
Sensor and hole tray counter；The seedling box mover is fixedly mounted on by moving bottom seat on chassis, and on the shifting bottom seat
Hole tray conveyer frames are installed, hole tray is placed on the hole tray conveyer frames, and hole tray conveyer frames 22 can be in the drive of cross feed device
Under do in-movement and do length feed movement under the drive of longitudinal feeding device；The hole tray position sensor peace
Mounted in seedling box mover both sides and adjustable up and down, is connected with programmable controller, for positioning hole tray initially into disk position, triggers
Seedling taking moves；The hole tray counter is triggered by stepper motor direct impulse, and the stepper motor often sends out primary positive arteries and veins
Punching, is moved down number and adds one to be recorded the line number that hole tray moves down with this；
Seedling picking mechanism includes coulisse, small door frame, gate seedling taking tumble cylinder, seedling taking end effector, big door frame, electromagnetism
Valve, magnetic switch A, magnetic switch B, magnetic switch C, the coulisse are fixed on chassis, two sides of the big door frame
The bottom end of arm is rotatably arranged in chassis or in the relatively-stationary structure in chassis, and the bottom end of one of side arm is leaned on
The nearly coulisse is rotatably mounted on the coulisse；The small door frame is rotatably installed in the big door frame side arm
Inside, the seedling taking end effector number are n, and n seedling claw is arranged in rows, and the seedling taking end effector is fixedly mounted on
On the small door frame；The gate seedling taking tumble cylinder is rotatably installed in coulisse or any and relatively-stationary knot of coulisse
On structure, external part and the big door frame of the push rod of the gate seedling taking tumble cylinder are rotatablely connected；It is provided with sliding slot on the coulisse,
The small door frame is connect by axis pin with sliding slot；Magnetic switch A, magnetic switch B and magnetic switch C are respectively arranged in gate and take
Corresponded to when the stretching limit position of seedling tumble cylinder, seedling claw contact pot seedling and stretch out position and retraction limit position, and respectively with can compile
Range controller is connected；The programmable controller also opens and closes gas by the seedling claw of solenoid valve and seedling taking end effector respectively
Cylinder, gate seedling taking tumble cylinder are connected；
Seeding separation includes seedling separation pedestal, seedling separation chain and sprocket driving device fixing device, seedling separation chain and sprocket driving device and several seedlings
Cup, incremental encoder, photoelectric sensor, high-speed counter, seedling separation impulse register, seedling cup counter, counting allow to switch
With photoelectric sensor status register；The seeding separation is fixedly mounted on by being divided into seedlings pedestal on chassis, and the seedling separation
Seedling separation chain and sprocket driving device fixing device is fixed on pedestal, the seedling separation chain and sprocket driving device fixing device is installed with seedling separation chain
Transmission device, several seedling cups are fixed on the seedling separation chain and sprocket driving device and cyclization of connecting, and seedling cup is in seedling separation chain and sprocket driving device
Drive lower rotation；The incremental encoder is at the chassis transfer case of automatic transplanter actuating unit, for according to transfer
The rotation of the tachometric survey seedling cup of case, and pulse is sent out according to the rotation of seedling cup；The photoelectric sensor of the photoelectric sensor is set
A seedling cup outer wall side in seeding separation, the rotation for detecting seedling cup；The high-speed counter is used for increment type
The pulse of encoder is counted；The seedling separation impulse register is for storing the corresponding seedling separation number of pulses of each seedling claw；
The direction opposite from seedling cup direction of rotation is started, and the corresponding seedling separation number of pulses An=of n-th of seedling claw [D0+ (n-1) × D] ×
B/C, wherein B is equal to number of pulses caused by incremental encoder each rotation high-speed counter, and C is encoded equal to increment type
Device each rotation seedling cup corresponds to distance of passing by, and D0 is equal to the seedling separation distance of the 1st seedling claw, when referring to the startup of seedling separation function, first
Distance between a seedling claw center and its latter seedling cup center, D are equal to the distance between the center of two neighboring seedling cup；It is described
The seedling cup quantity that the rising edge signal that seedling cup counter is generated according to photoelectric sensor passes through rotation counts；Counting allows
The range that switch control seedling cup counter counts, when the counting of seedling cup counter is more than or equal to n-2, by seedling cup counter and height
The counting of fast counter is reset；Photoelectric sensor status register is used to deposit the state of photoelectric sensor, it is ensured that seedling separation process
In not repeated trigger be divided into seedlings program；
Planting mechanism includes planting apparatus and planting apparatus holder, and the planting apparatus is duck-beak type sapling planter；And the cultivation
It plants device and is rotatably installed in planting apparatus holder one end, planting apparatus holder pivots are mounted on chassis；
Actuating unit includes running gear and power drive system；The running gear includes engine and wheel, vehicle
Wheel is mounted under chassis, and is rotated under the traction of engine, and the engine is also connect with chassis output end, chassis output end
Power is assigned in the planting mechanism and the seeding separation through power drive system；The power drive system includes point
Dynamic case, sprocket wheel, universal joint, transfer case are joined with the transfer case on the transfer case and seeding separation on planting apparatus respectively by universal joint
It connects；
Controller is rotated according to case startup information command is moved by stepper motor driver Driving Stepping Motor, and hole tray is with step
Stepper motor quick rotation is longitudinal into disk, when hole tray moves to hole tray position sensor installation site, according to hole tray position sensor
Rising edge signal is generated, judges that longitudinal direction quickly stops operating into disk finishing control stepper motor；And it is opened after the completion of a seedling taking
It is dynamic laterally to move disk cylinder, so that hole tray is moved to the left the distance of a cavities, carries out secondary seedling taking；It is again started up stepper motor longitudinal direction
It moves down, motor rotation distance is seedling claw seedling taking after specified Plug seedling line space；Disk is laterally moved to be alternately repeated with longitudinal move down
At whole disc picking seedling.According to the input signal of magnetic switch A, magnetic switch B and magnetic switch C, pass through solenoid valve control seedling taking
It is flexible that pawl opens and closes cylinder, gate seedling taking tumble cylinder, and seedling trigger point is thrown in positioning respectively, seedling claw starts to shrink at a little and seedling taking
Complete point；The step-by-step counting that incremental encoder is sent out is obtained by high-speed counter, and according to the step-by-step counting, seedling separation pulse
The corresponding seedling separation number of pulses of each seedling claw stored in register, sends out drive signal and is controlled after signal amplifier amplifies
The closure of the solenoid valve opens and closes cylinder by seedling claw and seedling claw is driven to carry out throwing seedling action.
Preferably, the transplanter further includes seed plate collecting box, and the seed plate collecting box is connect by bolt with chassis, place
Below seedling box mover rule position.
Preferably, the longitudinal feeding device by be arranged hole tray conveyer frames both sides length feed chain and sprocket driving device and
Length feed chain drive driving device composition in hole tray conveyer frames bottom end is set；The length feed chain and sprocket driving device includes two
The both ends of root length feed chain and several tranverse connecting rods, the tranverse connecting rod are fixed on two length feed chains, and two vertical
It is driven to feed chain by length feed chain drive driving device.
Preferably, the cross feed device includes guide rod and lateral driver device, and the lateral driver device is fixed
On moving bottom seat, cylinder push-rod is fixed on hole tray conveyer frames and is connect with one end of guide rod, and guide rod is mounted in shifting bottom seat
On, the guide rod other end is fixedly connected with hole tray conveyer frames.
Preferably, the seedling separation pedestal includes bottom plate and intermediate support plate, and the bottom plate is fixedly connected with chassis, in described
Between support plate be vertically fixedly connected on the upper surface of the bottom plate, the bottom plate also includes notch；The seedling separation chain and sprocket driving device
Fixing device include chain tension means and seedling separation chain and sprocket driving device fixed plate, the intermediate support plate by chain tension means with
Seedling separation chain and sprocket driving device bolt of fixing plate is fixedly connected；The seedling separation chain and sprocket driving device includes seedling separation sprocket wheel input unit, sprocket wheel
Transmission device I, sprocket transmission device II and the chain with attachment, the seedling separation sprocket wheel input unit are fixedly installed in seedling separation bottom
The lower end of seat, the sprocket transmission device I and sprocket transmission device II are fixedly installed on seedling separation chain and sprocket driving device fixed plate
Both ends, the sprocket transmission device I connect by two chains with attachment with sprocket transmission device II；The seedling separation sprocket wheel
Input unit drives sprocket transmission device I and is further driven to sprocket transmission device II rotations by the chain with attachment；It is described
Seedling cup includes pipe portion, hinge and bottom cover, and the pipe portion is fixedly connected with the attachment on the chain with attachment and by hinge and bottom
Lid rotation connection, the bottom cover are mutually leaned on to be kept closed in lower section and the bottom plate of seedling separation pedestal.
Preferably, the pipe portion bottom end of the seedling cup is horizontal by 45 ° of oblique angles；The bottom cover is fully able to cover the pipe
The outlet in portion, and side protrudes from the side wall of pipe portion, and the bottom cover protrusion direction of two seedling cups of arbitrary neighborhood is different；Correspondingly
It is set on the bottom plate of the seedling separation pedestal there are two the notch being staggered, the size position of each notch can only allow a protrusion respectively
The bottom cover in direction is opened.
Preferably, the planting mechanism includes planting apparatus and planting apparatus holder, and the planting apparatus is duck-beak type sapling planter；
And the planting apparatus is rotatably installed on planting apparatus holder, and planting apparatus holder is installed in rotation on chassis, the plant
Mechanism further includes hydraulic push rod, and described hydraulic push rod one end is connected with planting apparatus holder pivots, the other end and chassis rotation connection.
Preferably, the length feed chain drive driving device is stepper motor, and the lateral driver device can to use
It is correlation photoelectric sensor either microswitch to adjust stroke cylinder, the hole tray position sensor, and high-speed counter uses
C620 counters are selected in two-way counting.
Preferably
Preferably, the axis pin is further connect by duplex needle bearing with sliding slot, photoelectric sensor and seedling cup outer wall
Distance≤1cm, seedling taking end effector number n is the integral multiple or half of the lateral single cavities number s of hole tray.
The workflow of above-mentioned automatic transplanter is as follows：
Automatic transplanter starts, and actuating unit drives planting apparatus and the rotation of seedling cup, controller to receive instantaneous signal and control
Seedling claw whole set processed is opened.Controller instruction step motor driver Driving Stepping Motor rotates, and hole tray is with stepper motor
Quick rotation length feed is for seedling, when moving to hole tray position sensor installation site, senses that hole tray generates rising edge letter
Number, controller control stepper motor stops operating, in place into disk.Gate seedling taking tumble cylinder corresponds to solenoid valve connection, and gate takes
Seedling tumble cylinder starts to stretch out, the overturning of seedling claw entire row, when gate seedling taking tumble cylinder continues to extend out to magnetic switch B, control
Device control solenoid valve processed and then control seedling claw cylinder contraction, make seedling taking needle shrink, start to grab seedling；When gate seedling taking tumble cylinder
When continuing to extend out to magnetic switch C, seedling taking needle is retracted to limit position, grabs seedling completion；Controller controls seedling taking tumble cylinder and retracts,
When gate seedling taking tumble cylinder is retracted to magnetic switch A, seedling claw is located above seeding separation, and seedling taking is completed.
After the completion of seedling taking, laterally to move disk cylinder and stretch out, be moved to the left a cavities distance, opening allows to move down switch, and
It is assigned to seedling cup counter a>The initial value of n-2 makes incremental encoder correspond to high-speed counter clearing, and high-speed counter is again
From zero count, seedling cup counter is also reset；When high-speed counter value is more than or equal to first set in seedling separation impulse register
When seedling claw is divided into seedlings number of pulses, the corresponding seedling claw cylinder of first seedling claw pushes the seedling claw to open, and is divided into seedlings；When
When high-speed counter value is more than or equal to the second seedling claw seedling separation number of pulses set in seedling separation impulse register, second takes
The corresponding seedling claw cylinder of seedling pawl pushes the seedling claw to open, and is divided into seedlings；It is divided into seedlings sequentially into n-th of seedling claw；The last one
After seedling claw has been lost, opening allows counter switch, and seedling cup counter counts from zero, while triggering gate seedling taking tumble cylinder
Seedling taking is overturn again, is repeated once step 3；After the completion of seedling taking, due to allowing to move down switch opening, forbid moving to left, controller is given
Stepper motor driver relative displacement signal controls stepper motor and rotates specified angle, and hole tray moves down a cavities distance,
Hole tray Counter Value adds 1, while allowing to move down switch closing.When seedling cup counter>=n-2, photoelectric sensor generate
When rising edge signal, incremental encoder is set to correspond to high-speed counter clearing, again from zero count, seedling cup counts high-speed counter
Device is also reset；It is divided into seedlings number of pulses when high-speed counter value is more than or equal to first seedling claw set in seedling separation impulse register
When, the corresponding seedling claw cylinder of first seedling claw pushes the seedling claw to open, and is divided into seedlings；When high-speed counter value be more than etc.
When being divided into seedlings second seedling claw set in impulse register seedling separation number of pulses, the corresponding seedling claw gas of second seedling claw
Cylinder pushes the seedling claw to open, and is divided into seedlings.It is divided into seedlings sequentially into n-th of seedling claw.After the last one seedling claw has been lost, opens and permit
Perhaps counter switch, seedling cup counter count from zero；It repeats the above steps, when hole tray Counter Value>The line number-of hole tray used
When 1, disk is moved back in stepper motor rotation, is carried out to next disk seedling secondary into disk.Above step is repeated, until system is closed.
Automatic transplanter provided by the invention, can solve seedling claw spacing and seedling cup spacing is unequal, and Plug seedling is difficult to
The problem of directly in a row losing into seedling cup may be implemented to fall seedling for the regular intervals of non-batch movement seeding separation.Controller connects
It connects and controls stepper motor driver, laterally move disk cylinder, hole tray position sensor, high-speed counter, seedling cup counter, control
Valve, seedling claw folding cylinder, gate seedling taking tumble cylinder and magnetic switch A, magnetic switch B and magnetic switch C, to realize shifting disk
Control system, seedling taking control system and the interoperation for throwing seedling control system.The automatic transplanter is simply time saving, picks and places seedling speed
Soon, band seedling is steady, and seedling falls into seedling cup accuracy rate height, and required input signal is few, and method is simple, flexible, efficient, and structure design is simple,
It adjusts easy to maintenance.Seedling, seedling taking, seedling separation, throwing seedling, movement of planting seedlings are sent by simply controlling can be realized, high speed plant is adapted to and makees
Industry.
Description of the drawings
Fig. 1 is the overall structure diagram according to a kind of automatic transplanter for plug seedling of the present invention.
Fig. 2 is the side view of automatic transplanter for plug seedling shown in Fig. 1.
Fig. 3 is the seedling box mover schematic diagram of automatic transplanter for plug seedling shown in Fig. 1.
Fig. 4 is the schematic diagram for the seeding separation that seedling cup is eliminated in automatic transplanter for plug seedling shown in Fig. 1.
Fig. 5 is Plug seedling Automatic Transplanter operation principle schematic diagram shown in Fig. 1.
Fig. 6 is to take the part composition schematic diagram for feeding control system automatically according to a kind of Plug seedling of the present invention.
Fig. 7 is seedling separation control system workflow schematic diagram.
Fig. 8 is a kind of entire row seedling taking end effector and seeding separation position relationship schematic diagram according to the present invention.
Fig. 9 is the structural schematic diagram according to the seedling taking end effector of the present invention.
Figure 10 is the structural schematic diagram according to the seedling cup of the present invention.
Figure 11 is the operational process figure according to the seedling picking mechanism of the present invention.
Figure 12 is the automatic transplanter for plug seedling according to the present invention for seedling, seedling taking and seedling separation workflow schematic diagram.
In figure:
The chassis 1-；2- seedling box movers, 21- shifting bottom seats, 22- hole tray conveyer frames, 23- cross feed devices, 231- guide rods,
232- laterally moves disk cylinder, 24- longitudinal feeding devices, 241- length feed chain and sprocket driving devices, 2411- tranverse connecting rods, the longitudinal directions 2412-
Feed chain, 242- stepper motors, 25- hole tray position sensors；3- seedling picking mechanisms, 31- coulisses, 311- sliding slots, 32- wickets
Frame, 321- axis pins, 33- gate seedling taking tumble cylinders, 331- gate seedling taking tumble cylinder mounting plates, 34- seedling taking end effectors,
341- seedling claws open and close cylinder, and 342- pawls plate, 343- cleoids, the big door frames of 35-, 36- magnetic switch A；4- seeding separations, 41-
It is divided into seedlings pedestal, 411- bottom plates, 4111- notches, 412- intermediate support plates, 42- seedling separation chain and sprocket driving device fixing devices, 421- chains
Tight device, 422- chain and sprocket driving device fixed plates, 43- are divided into seedlings chain and sprocket driving device, and 431- is divided into seedlings sprocket wheel input unit, and 432- sprocket wheels pass
The dynamic chain of device I, 433- sprocket transmission device II, 434- with attachment, 44- seedling cups, 441- pipe portions, 442- hinges, the bottoms 443-
Lid, 45- lead seedling pipe, 46- photoelectric sensors；5- planting mechanisms, 51- planting apparatuses, 52- planting apparatus holders, 6- actuating units, 61-
Chassis output end, 62- transfer cases, 63- sprocket wheels, 64- universal joints；7- seed plate collecting boxs.
Specific implementation mode
The preferred embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings, so that advantages and features of the invention energy
It is easier to be readily appreciated by one skilled in the art, so as to make a clearer definition of the protection scope of the present invention.
As depicted in figs. 1 and 2, in the embodiment of the automatic transplanter for plug seedling of the present invention, Plug seedling moves automatically
It will includes chassis 1, seedling box mover 2, seedling picking mechanism 3, seeding separation 4, planting mechanism 5 and actuating unit 6 to plant owner.And it is described
Seedling box mover 2, seedling picking mechanism 3 and seeding separation 4 are front and back successively to be fixed on chassis 1, the setting of planting mechanism 5 and young seed separating machine
4 lower section of structure is simultaneously connect with chassis 1, and the seedling that seeding separation 4 is launched can accurately enter in planting mechanism 5, realize action of planting seedlings.It is excellent
Selection of land, the automatic transplanter for plug seedling can also include seed plate collecting box, for storing the blank panel after seedling taking.
As shown in figure 3, the seedling box mover 2 includes moving bottom seat 21, hole tray conveyer frames 22, cross feed device 23, indulging
To feed arrangement 24, hole tray position sensor 25 and hole tray counter.The seedling box mover 2 is fixedly mounted by moving bottom seat 21
On chassis 1, and hole tray conveyer frames 22 are installed on the shifting bottom seat 21, hole tray can be placed on the hole tray conveyer frames 22
On, and in-movement can be done under the drive of cross feed device 23 and done under the drive of longitudinal feeding device 24
Length feed moves, and send seedling to act to realize.The hole tray position sensor 25 is mounted on seedling box mover both sides and up and down may be used
It adjusts, is connected with programmable controller, for positioning hole tray initially into disk position, triggering seedling taking movement.The hole tray counter is logical
The triggering of 242 direct impulse of the stepper motor is crossed, the stepper motor 242 often sends out a direct impulse, moves down number and add one
The line number that hole tray moves down is recorded with this.
The longitudinal feeding device 24 be by be arranged hole tray conveyer frames both sides length feed chain and sprocket driving device 241 and
Length feed chain drive driving device composition in hole tray conveyer frames bottom end is set.The length feed chain and sprocket driving device 241 wraps
Include two length feed chains 2412 and several tranverse connecting rods 2411, the both ends of the tranverse connecting rod 2411 be fixed on two longitudinal directions into
To on chain 2412, hole tray can be placed between two tranverse connecting rods 2411, and two length feed chains 2412 are by length feed chain
Transmission drive drives.The length feed chain drive driving device is stepper motor 242, and stepper motor 242 drives longitudinal direction
Feed chain, and then tranverse connecting rod 2411 is driven, then the hole tray between being placed on two tranverse connecting rods 2411 is driven to do length feed movement.
The cross feed device 23 includes guide rod 231 and lateral driver device, and the lateral driver device is fixed on
It moves on bottom seat 21, cylinder push-rod is fixed on hole tray conveyer frames 22 and is connect with one end of guide rod 231, and guide rod 231 is mounted in shifting
On bottom seat 21,231 other end of guide rod is fixedly connected with hole tray conveyer frames 22, and guide rod 231 can be in the drive of lateral driver device
The dynamic lower promotion hole tray laterally moves, and send seedling to act to realize.
The lateral driver device is laterally to move disk cylinder 232, preferably by increased stroke-adjustable gas cylinder, laterally moves disk cylinder
232 are fixed on shifting bottom seat 21, and cylinder push-rod is fixed on hole tray conveyer frames 22, in the case where laterally moving the driving of disk cylinder 232,
Hole tray conveyer frames 22 drive hole tray to carry out in-movement along guide rod 231.
In conjunction with Fig. 1 and Fig. 8, the seedling picking mechanism 3 includes coulisse 31, small door frame 32, gate seedling taking tumble cylinder 33, takes
Seedling end effector 34 and big door frame 35, the coulisse 31 are fixed on chassis 1,35 two side arms of the big door frame
Bottom end is rotatably arranged in chassis 1 or in 1 relatively-stationary structure of chassis, and the bottom end of one of side arm is close
The coulisse 31 is rotatably mounted on the coulisse 31；The small door frame 32 is rotatably installed in the big door frame 35
The inside of side arm, 34 numbers of the seedling taking end effector are n, and n seedling claw is arranged in rows, the seedling taking end effector 34
Including seedling claw folding cylinder 341, pawl plate 342 and cleoid 343；When the pusher retracted of the seedling claw folding cylinder 341, institute
The push rod for stating seedling claw folding cylinder 341 drives cleoid 343 to gather and be clamped by plate 342 of pawling；The seedling claw folding
When the push rod of cylinder 341 stretches out, the push rod of the seedling claw folding cylinder 341 drives opposite of cleoid 343 by plate 342 of pawling
It opens realization and throws seedling.
The seedling taking end effector 34 is fixedly mounted on the small door frame 32；33 turns of the gate seedling taking tumble cylinder
It is dynamic to be mounted in coulisse 31 or any and 31 relatively-stationary structure of coulisse.As shown in Fig. 2, the gate seedling taking overturning
Cylinder 33 can be rotatably installed on gate seedling taking tumble cylinder mounting plate 331, the gate seedling taking tumble cylinder mounting plate 331
It is fixed on coulisse 31 or the gate seedling taking tumble cylinder 33 may be mounted on chassis 1.The gate seedling taking
The external part of the push rod of tumble cylinder 33 is rotatablely connected with big door frame 35；Sliding slot 311, the wicket are provided on the coulisse 31
Frame 32 is connect by axis pin 321 with sliding slot 311.In the course of work, the push rod stretching motion of gate seedling taking tumble cylinder 33 pushes
Big door frame 35 rotates, and the big door frame 35 drives small door frame 32 to rotate, and the small door frame 32 drives axis pin 321 in sliding slot 311
Sliding, when axis pin 321 slides into the least significant end of sliding slot 311, the seedling taking end effector 34 is carried out at the same time perpendicular to hole tray
Seedling taking, when axis pin 321 slides into the most significant end of sliding slot 311, the seedling taking end effector 34 is perpendicular to horizontal plane and carries out
Seedling separation.Preferably, the axis pin 321 is further connect by duplex needle bearing with sliding slot 311, to reduce friction.
In order to realize the automation control of its wonderful process, in the stretching limit position of the gate seedling taking tumble cylinder, seedling taking
Stretching position is corresponded to when pawl contacts pot seedling and magnetic switch A, magnetic switch B and magnetic switch C are installed in retraction limit position respectively,
Magnetic switch A, magnetic switch B and magnetic switch C are connected with controller respectively.The controller also respectively by solenoid valve with
The seedling claw folding cylinder of seedling taking end effector, gate seedling taking tumble cylinder are connected.
When starting seedling taking, the solenoid valve of the controller control connection gate seedling taking tumble cylinder is connected, and gate seedling taking is turned over
The push rod of rotaring cylinder stretches out, and big door frame is pushed to rotate, and the big door frame drives small door frame rotation, the small door frame that axis pin is driven to exist
Sliding in sliding slot, end effector overturning, when gate seedling taking tumble cylinder continues to extend out to magnetic switch B, pin slide arrives
The least significant end of sliding slot, the seedling taking end effector connect perpendicular to hole tray, the solenoid valve of the controller control connection seedling claw
It is logical, and then seedling claw cylinder is shunk, and so that seedling taking end effector is shunk, is started to grab seedling；When gate seedling taking tumble cylinder continues to stretch
When going out to magnetic switch C, seedling taking end effector is retracted to limit position, grabs seedling completion；The controller control connection gate takes
The solenoid valve of seedling tumble cylinder disconnects, the pusher retracted of gate seedling taking tumble cylinder, when gate seedling taking tumble cylinder is retracted to magnetic
Property switch A when, the most significant end of pin slide to sliding slot, the seedling taking end effector is located at seeding separation perpendicular to horizontal plane
Top, seedling taking are completed.
In conjunction with Fig. 1, Fig. 4 and Fig. 8, the seeding separation 4 includes seedling separation pedestal 41, seedling separation chain and sprocket driving device fixing device
42, seedling separation chain and sprocket driving device 43 and several seedling cups 44, incremental encoder, photoelectric sensor, high-speed counter, seedling separation pulse
Register, seedling cup counter, counting allow switch and photoelectric sensor status register.The seeding separation 4 is by being divided into seedlings bottom
Seat 41 is fixedly mounted on chassis 1, and seedling separation chain and sprocket driving device fixing device 42 is fixed on the seedling separation pedestal 41, described
Seedling separation chain and sprocket driving device fixing device 42 is installed with seedling separation chain and sprocket driving device 43, several seedling cups 44 fix the seedling separation chain
On transmission device 43 and cyclization of connecting, seedling cup rotate under the drive of seedling separation chain and sprocket driving device.
The incremental encoder is at the seeding separation transfer case of automatic transplanter actuating unit, for according to transfer
The rotation of the tachometric survey seedling cup of case, and pulse is sent out according to the rotation of seedling cup；The photoelectric sensor of the photoelectric sensor is set
A seedling cup outer wall side in seeding separation, the rotation for detecting seedling cup；The high-speed counter is used for increment type
The pulse of encoder is counted；The seedling separation impulse register is for storing the corresponding seedling separation number of pulses of each seedling claw；
The direction opposite from seedling cup direction of rotation is started, and the corresponding seedling separation number of pulses An=of n-th of seedling claw [D0+ (n-1) × D] ×
B/C, wherein B is equal to number of pulses caused by incremental encoder each rotation high-speed counter, and C is encoded equal to increment type
Device each rotation seedling cup corresponds to distance of passing by, and D0 is equal to the seedling separation distance of the 1st seedling claw, when referring to the startup of seedling separation function, first
Distance between a seedling claw center and its latter seedling cup center, D are equal to the distance between the center of two neighboring seedling cup；It is described
The seedling cup quantity that the rising edge signal that seedling cup counter is generated according to photoelectric sensor passes through rotation counts；Counting allows
The range that switch control seedling cup counter counts, when the counting of seedling cup counter is more than or equal to n-2, by seedling cup counter and height
The counting of fast counter is reset；Photoelectric sensor status register is used to deposit the state of photoelectric sensor, it is ensured that seedling separation process
In not repeated trigger be divided into seedlings program.N is preferably 6 or 8.
By effective cooperation of photoelectric sensor and incremental encoder, solves seedling claw spacing and seedling cup spacing not phase
The problem of being difficult to directly in a row lose into seedling cup Deng, Plug seedling.The regular intervals for non-batch movement seeding separation may be implemented
Seedling is fallen, required input signal is few, and method is simple, flexible, efficient, adapts to high speed plant operation.
The seedling separation pedestal 41 includes bottom plate 411 and intermediate support plate 412, and the bottom plate 411 is fixedly connected with chassis 1,
The intermediate support plate 412 is vertically fixedly connected on the upper surface of the bottom plate 411, and the bottom plate 411 also includes notch 4111；
The seedling separation chain and sprocket driving device fixing device 42 includes chain tension means 421 and is divided into seedlings chain and sprocket driving device fixed plate 422, described
Intermediate support plate 412 is fixedly connected by chain tension means 421 with seedling separation 422 bolt of chain and sprocket driving device fixed plate；The seedling separation
Chain and sprocket driving device 43 includes seedling separation sprocket wheel input unit 431, sprocket transmission device I432, sprocket transmission device II433 and band
The chain 434 of attachment, the seedling separation sprocket wheel input unit 431 are fixedly installed in the lower end of seedling separation pedestal 41, the sprocket wheel transmission
The device I432 and sprocket transmission device II433 is fixedly installed on the both ends of seedling separation chain and sprocket driving device fixed plate 422, the chain
Wheel transmission device I432 is connect by two chains 434 with attachment with sprocket transmission device II433；The seedling separation sprocket wheel input
Device 431, which drives sprocket transmission device I432 and is further driven to sprocket transmission device II433 by the chain 434 with attachment, to be turned
It is dynamic.The seedling cup 44 includes pipe portion 441, hinge 442 and bottom cover 443, the pipe portion 441 with it is attached on the chain 434 with attachment
Part is fixedly connected and is rotatablely connected by hinge 442 and bottom cover 443, bottom plate 411 of the bottom cover 443 in lower section and seedling separation pedestal
Mutually by be kept closed, when seedling cup under the drive of chain rotary motion to the tablet 411 notch 413 when, it is described
Bottom cover is automatically opened by gravity, and the Plug seedling of Miao Beizhong falls to the duck of duck-beak type planting apparatus from notch under the effect of gravity
In mouth.
The pipe portion bottom end of the seedling cup is horizontal by 45 ° of oblique angles；The bottom cover 443 is fully able to cover the pipe portion
Outlet, and side protrudes from the side wall of pipe portion, and the bottom cover protrusion direction of two seedling cups of arbitrary neighborhood is different；It is correspondingly described
It is divided into seedlings on the bottom plate 411 of pedestal and sets there are two the notch being staggered, the size position of each notch can only allow a protrusion respectively
The bottom cover in direction is opened.When seeding separation works, sprocket wheel is driven power rotation, and chain and seedling cup is driven to make annular conveying fortune
It is dynamic.It when close to the seedling cup movement of seedling claw side, since seedling bottom of a cup lid lower plate blocks, can't open, when seedling cup moves
When to close to planting apparatus side, rack is opened there are two the notch being staggered, and odevity seedling bottom of a cup lid is respectively in the notch being staggered at this time
Place opens, and completion odevity, which is staggered, falls seedling.When seedling cup is after notch, seedling bottom of a cup lid is automatically closed, again seedlings picking, send seedling, fall
Seedling recycles successively.Preferably, the bottom of the gap, which is additionally provided with, leads seedling pipe 45, and seedling can be made accurately to drop into duck-beak type plant
In the duckbilled of device.
As depicted in figs. 1 and 2, the planting mechanism 5 includes planting apparatus 51 and planting apparatus holder 52, the planting apparatus 51
For duck-beak type sapling planter；And the planting apparatus is rotatably installed on planting apparatus holder 52, and planting apparatus holder 52 is rotationally pacified
On chassis 1.
The planting mechanism further includes hydraulic push rod, and described hydraulic push rod one end and planting apparatus holder 52 are rotatablely connected, separately
One end and chassis 1 are rotatablely connected；Planting apparatus holder 52 and planting apparatus 51 mounted thereto can pass through hydraulic lifting apparatus
53 realize lifting action.
As shown in Fig. 2, the actuating unit 6 includes running gear and power drive system；The running gear includes hair
Motivation and wheel, wheel is mounted under chassis, and is rotated under the traction of engine, and entire transplanter advances.At the same time,
The partial power of engine is distributed to chassis, and power is assigned to the cultivation through power drive system by chassis output end 61
It plants in mechanism 5 and the seeding separation 4.The power drive system includes transfer case 62, sprocket wheel 63, universal joint 64, is specifically moved
It is two-way that power transfer route, which is that the power output end 61 on chassis divided by transfer case 62,：All the way by universal joint 64 and planting apparatus
Transfer case connection, then drive planting apparatus rotation plants seedlings；Transfer case in another way and seeding separation 4 by chain drive come into
Row passing power, to drive the rotation of seedling cup in seeding separation.
The power transmission distribution ratio of the transfer case 62 is 1：1, on the transfer case and seeding separation on the planting apparatus
The power transmission distribution ratio of transfer case be 5：1；The accurate fit of planting mechanism and seeding separation so may be implemented.
Preferably, the transplanter further includes seed plate collecting box, and the seed plate collecting box is connect by bolt with chassis, place
Below seedling box mover rule position, seed plate falls into collecting box with gravity and stacks gradually when moving back disk.
Automatic transplanter operation principle：
The operation principle of the embodiment of Automatic Transplanter according to the present invention is as shown in figure 3, when work, first by a disk cave
Disk seedling is placed on seedling box mover, and hole tray makees longitudinal intermittent movement under the drive of stepper motor by longitudinal feeding device, moves case
Laterally move disk cylinder driving under make transverse shift movement, with realize promptly and accurately send seedling operation.Seedling picking mechanism takes in gate
Under the driving of seedling tumble cylinder, along certain movement locus, moved towards case side is moved, until seedling taking end effector contacts
To Plug seedling, then seedling taking end effector takes out Plug seedling under seedling claw folding cylinder driving, and is overturn in gate seedling taking
It is returned along track before under the driving of cylinder and throws seedling point.Seedling taking end effector is completed under seedling claw folding cylinder driving
Seedling action is put, Plug seedling falls into the Miao Beizhong of seeding separation.The Plug seedling of Miao Beizhong is fallen under the conveying of seeding separation, is rotated
To indentation, there, seedling bottom of a cup lid is opened at this time, and Plug seedling is fallen into planting apparatus, then completes plant work by planting apparatus, finally again
Earthing and suppression.Each critical piece is combined by body chassis, pneumatic system, including cross are provided gas to by air compressor machine
Cylinder is opened and closed to disk cylinder, gate seedling taking tumble cylinder and seedling claw is moved, to drive the traverse feed of seedling box mover and take
The action of seedling mechanism；Tractive force is provided by running gear, realizes the operating cooperation of seeding separation and planting mechanism；Pass through drive again
Autocontrol system controls the action of air compressor machine and running gear.
Automatic transplanter coordinates the dynamic of seedling box mover, seedling picking mechanism, seeding separation, planting mechanism and actuating unit simultaneously
Make, to realize for seedling, the process for seedling taking, being divided into seedlings, sending seedling and planting seedlings.The cooperation for seedling, seedling taking and seedling separation is realized, is needed to moving
Action between draw box mechanism, seedling picking mechanism and seeding separation carries out coordination control, and thus the present invention further provides a kind of hole trays
Seedling takes automatically feeds control system.The control system is simply time saving, picks and places that seedling speed is fast, band seedling is steady, and it is high that seedling falls into seedling cup accuracy rate,
It adjusts easy to maintenance.
Automatic transplanter of the present invention realize take the flow fed automatically as shown in figure 5,
Controller (PLC) instruction moves disk stepper motor work for the stepper motor driver control in seedling mechanism is longitudinal
Make, and hole tray is driven to realize length feed for seedling, when moving to hole tray 25 installation site of position sensor, senses that hole tray is produced
Raw rising edge signal, controller control stepper motor stop operating, in place into disk.
Hole tray in place after, transplanter starts seedling taking, and controller (PLC) instructs the corresponding solenoid valve of gate seedling taking tumble cylinder
It connects, gate seedling taking tumble cylinder starts to stretch out (Figure 11 a), seedling claw entire row overturning, when gate seedling taking tumble cylinder continues to stretch
Go out to (Figure 11 b) when magnetic switch B, controller instructs the corresponding solenoid valve of seedling claw cylinder to connect and then controls seedling claw cylinder
It shrinks, so that seedling claw is shunk, start to grab seedling；When gate seedling taking tumble cylinder continues to extend out to magnetic switch C (Figure 11 c), take
Seedling pawl is retracted to limit position, grabs seedling completion；Controller controls gate seedling taking tumble cylinder and retracts, when gate seedling taking tumble cylinder contracts
When being back to magnetic switch A (Figure 11 d), seedling claw is located above seeding separation, and seedling taking is completed.
After the completion of seedling taking, controller instruction laterally moves disk cylinder movement, drives hole tray to next neighbouring hole tray for having seedling
One hole tray hole distance of hole (leftward or rightward) transverse shifting, realizes traverse feed, transplanter seedling taking again, after the completion of seedling taking.
Stepper motor rotates, and so that hole tray is longitudinally moved down a hole tray hole distance, the value of hole tray counter adds 1.It then carries out next
The seedling taking of wheel and for seedling, until the value of hole tray counter is more than the line number of hole tray, disk is moved back in stepper motor rotation, then to next disk
Plug seedling acts in place, for seedling, seedling taking into traveling disk.
The line number that the hole tray counter metering hole tray moves down；When laterally moving disk to last group of Plug seedling, under allowing
Shifting state switch is opened, and longitudinal plate moving mechanism moves down a hole tray hole distance.Allow to move down switch control cross, the friendship of vertical shift disk
It replaces, when closing laterally moves disk, to disk is moved down when opening, ensures that seed plate seedling all takes out.
In the case of seedling taking end effector in a row seedling taking simultaneously, there are difference, examples with seedling cup spacing for seedling claw spacing
It is 5mm with seedling cup pitch difference as selected 6 seedling taking end effectors, seedling claw spacing in the present embodiment, thus in seedling claw
In the case that position is relatively fixed, seedling claw exists after opening to be difficult to Plug seedling accurately dropping into asking for seedling cup from seedling claw
Topic.For the seedling separation control system of more seedling taking end effectors and seeding separation cooperation, non-batch movement may be implemented in the present invention
The regular intervals of seeding separation fall seedling.
Seedling separation process as shown in fig. 7, when seedling cup starts rotation in seeding separation, start from scratch by the high-speed counter
It counts, high-speed counter uses two-way counting to overcome error caused by machine shake, for example, by using C630 counters.It is divided into seedlings work(
After capable of starting, seedling taking seedling taking end effector in a row is in position to be divided into seedlings, and assigning one to seedling cup counter is more than the initial of n-2
Value.The photoelectric sensor is placed in seeding separation side, preferably apart from seedling cup outer wall<1cm, seedling cup by when generate high electricity
It is flat, therefore when seeding separation movement, photo-sensor signal is rectangular pulse signal, and seedling cup is used for using the rising edge of the signal
Initial position fix starts condition as triggering seedling separation function.When photoelectric sensor generates first rising edge signal, seedling cup
Counter O reset, high-speed counter count from zero again.When the number of pulses of high-speed counter record is more than or equal to seedling separation
When the seedling separation number of pulses A1 of the 1st seedling taking end effector set in impulse register, the 1st seedling taking end effector
It opens, seedling is lost in corresponding seedling cup；It is set when the number of pulses of high-speed counter record is more than or equal in seedling separation impulse register
When the seedling separation number of pulses A2 of the 2nd fixed seedling taking end effector, the 2nd seedling taking end effector opens, under seedling is lost
In one corresponding seedling cup, completed sequentially into n-th of seedling taking end effector seedling separation.
The Status register of photoelectric sensor is in photoelectric sensor status register, when opening, which counts, allows switch, institute
State photoelectric sensor and often generate a rising edge signal, seedling cup counter adds 1, when seedling cup Counter Value be more than or equal to setting value,
Next photoelectric sensor rising edge signal allows seedling separation function to trigger when generating, to prevent, seedling cup from losing weight or phenomenon is lost in leakage.Point
Photoelectric sensor status register set after the triggering of seedling function, it is ensured that during seedling separation, triggering seedling separation function will not be recycled, lost
It is resetted again afterwards.Above-mentioned setting value is related to seedling taking end effector number, subtracts 2 equal to seedling taking end effector number.
After the completion of n-th of seedling taking end effector is divided into seedlings, opening allows counter switch, photoelectric sensor often to generate one
Rising edge signal, seedling cup counter add 1.After seedling cup Counter Value reaches n-2, above-mentioned seedling separation process is repeated, until system is closed.
Hole tray more commonly used at present is 6 × 12 or 8 × 16 hole tray, and corresponding line number is respectively 6 and 8.And correspondingly
In order to will often row Plug seedling take at twice, the quantity of the seedling taking end effector on seedling picking mechanism is respectively accordingly 6
It is a and 8.Mentality of designing according to the present invention, those skilled in the art be contemplated that other types hole tray for seedling, seedling taking and point
Seedling-growing method, or be based on method provided by the invention, those skilled in the art can make some equivalence replacements, such as will every row hole tray
Seedling is primary or takes in three times, and the setting of corresponding control method and seedling taking end effector quantity can be readily derived,
This will not be repeated here.
The control system of the present invention can design different subprograms according to different hole trays, pass through in implementation process
Switching to adapt to different hole trays between subprogram.
Example the above is only the implementation of the present invention is not intended to limit the scope of the invention, every to utilize this hair
Equivalent structure or equivalent flow shift made by bright specification and accompanying drawing content is applied directly or indirectly in other relevant skills
Art field, is included within the scope of the present invention.
Claims (9)
1. a kind of control system of automatic transplanter for plug seedling, including chassis (1), seedling box mover (2), seedling picking mechanism (3), seedling separation
Mechanism (4), planting mechanism (5), actuating unit (6) and controller；The seedling box mover (2), seedling picking mechanism (3) and seeding separation
(4) front and back successively to be fixed on chassis (1), planting mechanism (5) is set to below seeding separation (4) and connects with chassis (1)
It connects, the seedling that seeding separation (4) is launched can accurately enter in planting mechanism (5)；It is characterized in that,
Seedling box mover (2) includes moving bottom seat (21), hole tray conveyer frames (22), cross feed device (23), longitudinal feeding device
(24), hole tray position sensor (25) and hole tray counter；The seedling box mover (2) is fixedly mounted on by moving bottom seat (21)
On chassis (1), and hole tray conveyer frames (22) are installed on the shifting bottom seat (21), hole tray is placed on the hole tray conveyer frames
(22) on, hole tray conveyer frames (22) can do in-movement under the drive of cross feed device (23) and in length feed
Length feed movement is done under the drive of device (24)；The hole tray position sensor (25) be mounted on seedling box mover (2) both sides and
It is adjustable up and down, it is connected with programmable controller, for positioning hole tray initially into disk position, triggering seedling taking movement；The hole tray meter
Number device is triggered by stepper motor (242) direct impulse, and the stepper motor (242) often sends out a direct impulse, is moved down secondary
Number adds one to record the line number that hole tray moves down with this；
Seedling picking mechanism (3) includes coulisse (31), small door frame (32), gate seedling taking tumble cylinder (33), seedling taking end effector
(34), big door frame (35), solenoid valve, magnetic switch A (36), magnetic switch B (37), magnetic switch C (38), the coulisse
(31) be fixed on chassis (1), the bottom ends of (35) two side arms of the big door frame be rotatably arranged in chassis (1) or
With in chassis (1) relatively-stationary structure, and the bottom end of one of side arm is close to the coulisse (31) or rotationally
On the coulisse (31)；The small door frame (32) is rotatably installed in the inside of big door frame (35) side arm, described
Seedling taking end effector (34) number is n, and n seedling taking end effector (34) is arranged in rows, the seedling taking end effector
(34) it is fixedly mounted on the small door frame (32)；The gate seedling taking tumble cylinder (33) be rotatably installed in coulisse (31) or
Person it is any with coulisse (31) relatively-stationary structure on, the external part of the push rod of the gate seedling taking tumble cylinder (33) with it is big
Door frame (35) is rotatablely connected；Be provided with sliding slot (311) on the coulisse (31), the small door frame (32) by axis pin (321) with
Sliding slot (311) connects；Magnetic switch A (36), magnetic switch B (37) and magnetic switch C (38) are respectively arranged in gate seedling taking
The stretching limit position of tumble cylinder (33), seedling taking end effector (34) correspond to when contacting pot seedling stretches out position and the retraction limit
Position, and be connected respectively with programmable controller；The programmable controller also passes through solenoid valve and seedling taking end effector respectively
(34) seedling claw folding cylinder (341), gate seedling taking tumble cylinder (33) are connected；
Seeding separation (4) includes seedling separation pedestal (41), seedling separation chain and sprocket driving device fixing device (42), seedling separation chain and sprocket driving device (43)
With several seedling cups (44), incremental encoder, photoelectric sensor (46), high-speed counter, seedling separation impulse register, Miao Beiji
Number device, counting allow switch and photoelectric sensor status register；The seeding separation (4) is by being divided into seedlings the fixed peace of pedestal (41)
Seedling separation chain and sprocket driving device fixing device (42), the seedling separation are fixed on chassis (1), and on the seedling separation pedestal (41)
Chain and sprocket driving device fixing device (42) is installed with seedling separation chain and sprocket driving device (43), the fixed seedling separation of several seedling cups (44)
On chain and sprocket driving device (43) and cyclization of connecting, seedling cup (44) rotate under the drive of seedling separation chain and sprocket driving device (43)；The increment
Formula encoder is at the chassis transfer case of automatic transplanter actuating unit (6), for the tachometric survey seedling cup according to transfer case
(44) rotation, and pulse is sent out according to the rotation of seedling cup (44)；The photoelectric sensor (46) is placed in seeding separation (4)
One seedling cup (44) outer wall side, the rotation for detecting seedling cup (44)；The high-speed counter is used for incremental encoder
Pulse counted；The seedling separation impulse register is for storing the corresponding seedling separation pulse of each seedling taking end effector (34)
Numerical value；The direction opposite from seedling cup (44) direction of rotation is started, the corresponding seedling separation umber of pulse of n-th of seedling taking end effector (34)
Value An=[D0+ (n-1) × D] × B/C, wherein B is equal to pulse caused by incremental encoder each rotation high-speed counter
Numerical value, C are equal to the corresponding distance of passing by of incremental encoder each rotation seedling cup (44), D0Equal to the 1st seedling taking end effector
(34) seedling separation distance, when referring to the startup of seedling separation function, first seedling taking end effector (34) center and its latter seedling cup
(44) distance between center, D are equal to the distance between the center of two neighboring seedling cup (44)；The seedling cup counter is according to photoelectricity
Seedling cup (44) quantity that the rising edge signal that sensor (46) generates passes through rotation counts；Counting allows switch control seedling
The range that cup counter counts, when the counting of seedling cup counter is more than or equal to n-2, by seedling cup counter and high-speed counter
It counts and resets；Photoelectric sensor status register is used to deposit the state of photoelectric sensor (46), it is ensured that is not weighed during seedling separation
Multiple triggering seedling separation program；
Planting mechanism (5) includes planting apparatus (51) and planting apparatus holder (52), and the planting apparatus (51) is duck-beak type sapling planter；
And the planting apparatus (51) is rotatably installed in planting apparatus holder (52) one end, and planting apparatus holder (52) is rotatably installed in chassis
(1) on；
Actuating unit (6) includes running gear and power drive system；The running gear includes engine and wheel, wheel
It under chassis (1), and is rotated under the traction of engine, the engine is also connect with chassis output end (61), chassis
Power is assigned in the planting mechanism (5) and the seeding separation (4) by output end (61) through power drive system；It is described dynamic
Power transmission system includes transfer case (62), sprocket wheel (63), universal joint (64), and chassis output end (61) passes through universal joint (64) difference
Couple with the transfer case on the transfer case and seeding separation (4) on planting apparatus；
Controller according to move case start information command by stepper motor driver Driving Stepping Motor (242) rotate, hole tray with
Stepper motor (242) quick rotation is longitudinal into disk, when hole tray moves to hole tray position sensor (25) installation site, according to hole tray
Position sensor (25) generates rising edge signal, judges that longitudinal direction quickly stops operating into disk finishing control stepper motor (242)；And
Start after the completion of a seedling taking and laterally move disk cylinder (232), hole tray is made to be moved to the left the distance of a cavities, carries out secondary take
Seedling；It is again started up stepper motor (242) longitudinally to move down, motor rotation distance is after specifying Plug seedling line space, and seedling taking end is held
Row device (34) seedling taking；It laterally moves disk and is alternately repeated completion whole disc picking seedling with longitudinal move down；It is opened according to magnetic switch A (36), magnetism
The input signal for closing B (37) and magnetic switch C (38) opens and closes cylinder (341), gate seedling taking by solenoid valve control seedling claw
Tumble cylinder (33) is flexible, and positioning throws that seedling trigger point, seedling taking end effector (34) starts to shrink at a little and seedling taking is complete respectively
Cheng Dian；The step-by-step counting that incremental encoder is sent out is obtained by high-speed counter, and is posted according to the step-by-step counting, seedling separation pulse
The corresponding seedling separation number of pulses of each seedling taking end effector (34) stored in storage, sends out drive signal through signal amplifier
The closure that the solenoid valve is controlled after amplification opens and closes cylinder (341) by seedling claw and seedling taking end effector (34) is driven to carry out
Throw seedling action.
2. the control system of automatic transplanter for plug seedling according to claim 1, which is characterized in that the transplanter also wraps
Seed plate collecting box is included, the seed plate collecting box is connect by bolt with chassis (1), below seedling box mover (2) rule position.
3. the control system of automatic transplanter for plug seedling according to claim 1, which is characterized in that the length feed dress
(24) are set by being arranged in the length feed chain and sprocket driving device (241) of hole tray conveyer frames (22) both sides and setting in hole tray conveyer frames
(22) the length feed chain drive driving device of bottom end is constituted；The length feed chain and sprocket driving device (241) includes two longitudinal directions
The both ends of feed chain (2412) and several tranverse connecting rods (2411), the tranverse connecting rod (2411) are fixed on two length feed chains
On item (2412), two length feed chains (2412) are driven by length feed chain drive driving device.
4. the control system of automatic transplanter for plug seedling according to claim 1, which is characterized in that the traverse feed dress
It includes guide rod (231) and lateral driver device to set (23), and the lateral driver device, which is fixed on, to be moved on bottom seat (21), cylinder
Push rod is fixed on hole tray conveyer frames (22) and is connect with one end of guide rod (231), and guide rod (231) is mounted in shifting bottom seat (21)
On, guide rod (231) other end is fixedly connected with hole tray conveyer frames (22).
5. the control system of automatic transplanter for plug seedling according to claim 1, which is characterized in that the seedling separation pedestal
(41) include bottom plate (411) and intermediate support plate (412), the bottom plate (411) is fixedly connected with chassis (1), the intermediate branch
Fagging (412) is vertically fixedly connected on the upper surface of the bottom plate (411), and the bottom plate (411) also includes notch (4111)；Institute
State seedling separation chain and sprocket driving device fixing device (42) include chain tension means (421) and seedling separation chain and sprocket driving device fixed plate (422),
The intermediate support plate (412), which is fixed by chain tension means (421) with seedling separation chain and sprocket driving device fixed plate (422) bolt, to be connected
It connects；The seedling separation chain and sprocket driving device (43) includes seedling separation sprocket wheel input unit (431), sprocket transmission device I (432), sprocket wheel biography
Dynamic device II (433) and the chain (434) with attachment, the seedling separation sprocket wheel input unit (431) are fixedly installed in seedling separation bottom
The lower end of seat (41), the sprocket transmission device I (432) are fixedly installed on seedling separation chain with the sprocket transmission device II (433)
The both ends of transmission device fixed plate (422), the sprocket transmission device I (432) pass through two chains (434) and chain with attachment
Wheel transmission device II (433) connections；The seedling separation sprocket wheel input unit (431) drives sprocket transmission device I (432) and passes through band
The chain (434) of attachment is further driven to sprocket transmission device II (433) rotations；The seedling cup (44) includes pipe portion (441), closes
Page (442) and bottom cover (443), the pipe portion (441) are fixedly connected with the attachment on the chain (434) with attachment and pass through hinge
(442) it is rotatablely connected with bottom cover (443), the bottom cover (443) is mutually leaned in lower section and the bottom plate (411) of seedling separation pedestal (41) to protect
Hold closed state.
6. the control system of automatic transplanter for plug seedling according to claim 1, which is characterized in that the seedling cup (44)
Pipe portion bottom end is horizontal by 45 ° of oblique angles；Bottom cover (443) is fully able to cover the outlet of the pipe portion, and side protrudes from pipe
The side wall in portion, and the bottom cover protrusion direction of two seedling cups (44) of arbitrary neighborhood is different；There are two correspondingly being set on bottom plate (411)
The size position of the notch being staggered, each notch can only allow the bottom cover of a protrusion direction to open respectively.
7. the control system of automatic transplanter for plug seedling according to claim 1, which is characterized in that the planting mechanism
(5) further include hydraulic push rod, described hydraulic push rod one end and planting apparatus holder (52) rotation connection, the other end and chassis (1) turn
Dynamic connection.
8. the control system of automatic transplanter for plug seedling according to claim 4, which is characterized in that length feed chain drive
Driving device is stepper motor (242), and lateral driver device is increased stroke-adjustable gas cylinder；The hole tray position sensor (25) is pair
Penetrate formula photoelectric sensor either microswitch；High-speed counter uses two-way counting, selects C620 counters.
9. the control system of automatic transplanter for plug seedling according to claim 1, which is characterized in that the axis pin (321)
Further connect with sliding slot (311) by duplex needle bearing, photoelectric sensor (46) at a distance from seedling cup (44) outer wall≤
1cm, seedling taking end effector (34) number n are the integral multiples or half of the lateral single cavities number s of hole tray.
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| CN201610913732.9A CN106358537B (en) | 2016-10-20 | 2016-10-20 | A kind of automatic transplanter for plug seedling and its control system |
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| CN107041191A (en) * | 2017-02-22 | 2017-08-15 | 华中农业大学 | Integrated form pot seedling transplanter pneumatic seedling taking device |
| US11337364B2 (en) * | 2017-03-03 | 2022-05-24 | Williames Pty Ltd | To automatic selective transplanters |
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Application publication date: 20170201 Assignee: Wuxi Yue Tian Agricultural Machinery Technology Co., Ltd. Assignor: Jiangsu University Contract record no.: 2019320000105 Denomination of invention: Automatic transplanting machine for plug seedlings and control system thereof Granted publication date: 20181106 License type: Exclusive License Record date: 20190416 |
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